                  clean)
 
 ;          (println (apply str (repeat depth \ )) (count clean) (count dirtied) (count still-dirty))
-          (when (= (first (env/action-name (:action node))) 'nav)
-            (let [[_ dx dy] (env/action-name (:action node))]
-              (doseq [[ss sr] (stitch-effect-map clean state 0 #_ reward-to-state)]
-                (println ss sr clean new-results (env/action-name (:action node)))
-                (let [[sx sy] (map #(env/get-var state %) '[[atx] [aty]])]
-                  (when-not (= (- sr) (+ (util/abs (- sx dx)) (util/abs (- sy dy))))
-                     (println "ERROR" [sx sy] [dx dy] sr (:min-cycle-depth (:entry (meta ss))) reward-to-state) #_ (dr/debug-repl))))))
+;          (when (= (first (env/action-name (:action node))) 'nav)
+;            (let [[_ dx dy] (env/action-name (:action node))]
+;              (doseq [[ss sr] (stitch-effect-map clean state 0 #_ reward-to-state)]
+;                (println ss sr clean new-results (env/action-name (:action node)))
+;                (let [[sx sy] (map #(env/get-var state %) '[[atx] [aty]])]
+;                  (when-not (= (- sr) (+ (util/abs (- sx dx)) (util/abs (- sy dy))))
+;                     (println "ERROR" [sx sy] [dx dy] sr (:min-cycle-depth (:entry (meta ss))) reward-to-state) #_ (dr/debug-repl))))))
           
           (doseq [entry (concat good-roots (map #(:entry (meta (key %))) dirtied))] 
             (assert (util/xor (not (:sanode entry)) (:cutoff (meta entry))))

                     (extend-cutoff-depth-map cutoff-depth-map (:cutoff rec) cd depth)
                     (concat (when (and (>= b-cd depth) (< cd depth)) 
;                               (util/assert-is (<=  (+ b-rts (:cutoff rec))  rcut (- neg-reward)) "%s %s %s ; %s %s %s" (cutoff (:queue b-sa)) b-rts (:cutoff rec) b-cd depth cd)
                               [(vary-meta entry assoc :cutoff rcut)])
                             (doall (for [n sbn] (queues/g-pq-remove! good-queue n)))
                             good-roots)))))))))


              (- (or (:cutoff (meta entry)) (:reward-to-state entry))))) ;(if-let [n  (:sanode entry)] (cutoff (:queue n)) 0)
          (.remove stack-node-depths node) ;; TODO: catchup!! 

       ;   (println (apply str (repeat depth \ )) "Returning from" (env/action-name (:action node)) (map #(env/get-var state %) '[[atx] [aty]]) "With cutoffs" cut (cutoff good-queue) ", ns"  (util/map-keys spos (stitch-effect-map catchup state reward-to-state) ) (count catchup) (count new-results))   
          (assert (<= (cutoff good-queue) init-cutoff))
          
          (PartialResult (stitch-effect-map 
